Vehicle navigation light blanket display method, vehicle and storage medium

Abstract

The invention provides a vehicle navigation light blanket display method, a vehicle and a storage medium. The method comprises the following steps: displaying an augmented reality navigation guide light blanket in a vehicle head-up display navigation interface; in response to the fact that the augmented reality navigation guiding light blanket meets the light blanket super-picture condition, the three-dimensional navigation guiding light blanket is used for replacing the augmented reality navigation guiding light blanket for displaying in the vehicle head-up display navigation interface, the light blanket super-picture condition is used for determining whether the augmented reality navigation guide light blanket exceeds a navigation visual field range corresponding to a vehicle head-up display navigation interface or not, and the three-dimensional navigation guide light blanket is generated according to a steering angle corresponding to the vehicle; and in response to the situation that the steering angle is in the preset angle range, restoring the three-dimensional navigation guide light blanket to be displayed as the augmented reality navigation guide light blanket in the vehicle head-up display navigation interface. According to the method and the device, the technical problems of low navigation continuity and poor user experience caused by super picture of a light blanket in specific scenes such as a large-curvature curve or a turn-round in the prior art are solved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving, and in particular, to a vehicle navigation light carpet display method, a vehicle, and a storage medium. Background Art

[0002] With the deepening integration of intelligent vehicles and augmented reality (AR) technology, an AR head-up display (HUD) has become an important part of modern vehicle navigation systems. By projecting a virtual navigation light carpet on the driver's forward line of sight, intuitive and safe navigation guidance is provided. However, when the vehicle enters a high-curvature bend or makes a U-turn, due to the physical design of the HUD, the navigation light carpet may exceed the visible range, thereby reducing navigation continuity and the user driving experience.

[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present disclosure provide a vehicle navigation light carpet display method, a vehicle, and a storage medium to at least solve the technical problem that in specific scenarios such as high-curvature bends or U-turns in related technologies, the light carpet exceeds the frame, resulting in low navigation continuity and poor user experience.

[0005] According to one aspect of the embodiments of the present disclosure, a vehicle navigation light carpet display method is provided, including: displaying an augmented reality navigation guidance light carpet in a vehicle head-up display navigation interface; in response to the augmented reality navigation guidance light carpet satisfying the light carpet out-of-frame condition, displaying a three-dimensional navigation guidance light carpet in the vehicle head-up display navigation interface to replace the augmented reality navigation guidance light carpet, where the light carpet out-of-frame condition is used to determine whether the augmented reality navigation guidance light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guidance light carpet is generated according to the steering angle of the vehicle; in response to the steering angle being within a preset angle range, restoring the three-dimensional navigation guidance light carpet to the augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface.

[0006] Optionally, the vehicle navigation light carpet display method in the embodiments of the present disclosure further includes: obtaining steering navigation data corresponding to the augmented reality navigation guidance light carpet, where the steering navigation data includes: a navigation path distance and a future steering action associated with the navigation path distance; in response to the future steering action being a U-turn action and the navigation path distance being less than a first preset distance, determining that the augmented reality navigation guidance light carpet satisfies the light carpet out-of-frame condition.

[0007] Optionally, the vehicle navigation light carpet display method in the embodiments of the present disclosure further includes: obtaining navigation path type point data; screening the navigation path type point data by using a preset curvature limit condition to obtain curved path type points; in response to the distance between the vehicle and the curved path type points being less than a second preset distance, and the augmented reality navigation guiding light carpet being about to exceed the vehicle head-up display navigation interface, determining that the augmented reality navigation guiding light carpet meets the light carpet over-frame condition.

[0008] Optionally, the vehicle navigation light carpet display method in the embodiments of the present disclosure further includes: obtaining navigation path type point data; determining a steering angle based on the navigation path type point data, where the steering angle is used to evaluate the matching degree between the current driving direction of the vehicle and the vehicle navigation path; generating a three-dimensional navigation guiding light carpet according to the steering angle.

[0009] Optionally, determining the steering angle based on the navigation path type point data includes: converting the navigation path type point data within a preset distance ahead to the vehicle coordinate system to obtain a conversion result; determining the vehicle path type points and the target path type points according to the conversion result; using the current driving direction of the vehicle and the connection line between the vehicle path type points and the target path type points to determine the steering angle.

[0010] Optionally, generating a three-dimensional navigation guiding light carpet according to the steering angle includes: determining a plurality of initial curve control points based on the steering angle; performing linear interpolation processing on the plurality of initial curve control points to obtain a plurality of target curve control points; generating a path planning curve based on the target curve control points; generating a three-dimensional navigation guiding light carpet by using the path planning curve.

[0011] Optionally, replacing the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet for display in the vehicle head-up display navigation interface includes: smoothly replacing the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet in the vehicle head-up display navigation interface by using an inter-frame curve smoothing method.

[0012] According to another aspect of the embodiments of the present disclosure, there is also provided a vehicle navigation light carpet display device, including: a first display module, configured to display an augmented reality navigation guiding light carpet in the vehicle head-up display navigation interface; a replacement module, configured to, in response to the augmented reality navigation guiding light carpet meeting the light carpet over-frame condition, replace the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet for display in the vehicle head-up display navigation interface, where the light carpet over-frame condition is used to determine whether the augmented reality navigation guiding light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guiding light carpet is generated according to the steering angle corresponding to the vehicle; a second display module, configured to, in response to the steering angle being within a preset angle range, restore the three-dimensional navigation guiding light carpet to the augmented reality navigation guiding light carpet for display in the vehicle head-up display navigation interface.

[0013] Optionally, the vehicle navigation light carpet display device in the embodiments of the present disclosure further includes: a first acquisition module, configured to acquire steering navigation data corresponding to an augmented reality navigation guiding light carpet, where the steering navigation data includes: a navigation path distance and a future steering action associated with the navigation path distance; a first determination module, configured to determine that the augmented reality navigation guiding light carpet meets the light carpet over-frame condition in response to the future steering action being a U-turn action and the navigation path distance being less than a first preset distance.

[0014] Optionally, the vehicle navigation light carpet display device in the embodiments of the present disclosure further includes: a second acquisition module, configured to acquire navigation path type point data; a screening module, configured to perform screening processing on the navigation path type point data by using a preset curvature limit condition to obtain curved path type points; a second determination module, configured to determine that the augmented reality navigation guiding light carpet meets the light carpet over-frame condition in response to the distance between the vehicle and the curved path type points being less than a second preset distance and the augmented reality navigation guiding light carpet being about to exceed the vehicle head-up display navigation interface.

[0015] Optionally, the vehicle navigation light carpet display device in the embodiments of the present disclosure further includes: a second acquisition module, configured to acquire navigation path type point data; a third determination module, configured to determine a steering angle based on the navigation path type point data, where the steering angle is used to evaluate the matching degree between the current driving direction of the vehicle and the vehicle navigation path; a generation module, configured to generate a three-dimensional navigation guiding light carpet according to the steering angle.

[0016] Optionally, the third determination module is further configured to: convert the navigation path type point data within a preset distance ahead to the vehicle coordinate system to obtain a conversion result; determine a vehicle path type point and a target path type point according to the conversion result; and determine the steering angle by using the current driving direction of the vehicle and the connection line between the vehicle path type point and the target path type point.

[0017] Optionally, the generation module is further configured to: determine a plurality of initial curve control points based on the steering angle; perform linear interpolation processing on the plurality of initial curve control points to obtain a plurality of target curve control points; generate a path planning curve based on the target curve control points; and generate a three-dimensional navigation guiding light carpet by using the path planning curve.

[0018] Optionally, the replacement module is further configured to: smoothly replace the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet in the vehicle head-up display navigation interface by using an inter-frame curve smoothing method.

[0019] According to another aspect of the embodiments of the present disclosure, there is also provided a vehicle, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to execute the instructions to implement the vehicle navigation light carpet display method in the embodiments of the present disclosure.

[0020] On the other hand, according to an embodiment of the present disclosure, there is also provided a computer-readable storage medium, which includes a stored executable program. When the executable program runs, it controls the device where the storage medium is located to execute the vehicle navigation light carpet display method in the embodiment of the present disclosure.

[0021] On the other hand, according to an embodiment of the present disclosure, there is also provided a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, the vehicle navigation light carpet display method in the embodiment of the present disclosure is implemented.

[0022] In the embodiment of the present disclosure, by displaying an augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface, and then when the augmented reality navigation guidance light carpet meets the light carpet over-frame condition, using a three-dimensional navigation guidance light carpet to replace the augmented reality navigation guidance light carpet for display in the vehicle head-up display navigation interface, and finally when the steering angle is within a preset angle range, restoring the three-dimensional navigation guidance light carpet to be displayed as the augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface, the purpose of providing stable, reliable and uninterrupted navigation guidance in large curvature bend or U-turn scenarios is achieved, thereby realizing the technical effects of seamless switching of the display mode, maintaining the continuity and accuracy of navigation information, and enhancing the user experience. Furthermore, the technical problem that in specific scenarios such as large curvature bends or U-turns in the related art, the light carpet over-frame leads to low navigation continuity and poor user experience is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure. In the drawings:

[0024] Figure 1 is a flowchart of a vehicle navigation light carpet display method according to an embodiment of the present disclosure;

[0025] Figure 2 is a schematic diagram of an over-frame scenario according to an embodiment of the present disclosure;

[0026] Figure 3 is a schematic diagram of another over-frame scenario according to an embodiment of the present disclosure;

[0027] Figure 4 is a schematic diagram of another over-frame scenario according to an embodiment of the present disclosure;

[0028] Figure 5 is a schematic diagram of a vehicle steering angle according to an embodiment of the present disclosure;

[0029] Figure 6Schematic diagram of a three-dimensional navigation guiding light carpet according to one embodiment of the present disclosure;

[0030] Figure 7 Schematic diagram of another three-dimensional navigation guiding light carpet according to one embodiment of the present disclosure;

[0031] Figure 8 Schematic diagram of another three-dimensional navigation guiding light carpet according to one embodiment of the present disclosure;

[0032] Figure 9 Block diagram of a vehicle navigation light carpet display device according to one embodiment of the present disclosure. Detailed implementation manners

[0033] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0035] When designing the existing AR-HUD system, it overly relies on the strict fitting of the light carpet to the actual road and ignores the limitations of the HUD visual angle in special scenarios. When there is a large deviation between the vehicle orientation and the planned path, the display strategy of the AR light carpet in the related art cannot ensure that the navigation information is always presented within the visible range.

[0036] Specifically, when the vehicle approaches a sharp curve, the angle formed between the driver's line of sight and the direction of the light carpet will increase sharply, exceeding the maximum visible angle designed for the HUD. Part or all of the original AR light carpet for guiding falls outside the HUD display screen, resulting in the driver being unable to receive complete navigation information, thus reducing the continuity of navigation. Similarly, when the vehicle makes a U-turn, the original real AR light carpet following the road trace will also not be fully displayed on the HUD due to angle deviation problems. This not only reduces the practicality of the navigation light carpet but may also force the driver to shift their line of sight to find the missing navigation information at a critical moment, increasing the driving risk.

[0037] According to an embodiment of the present disclosure, a method embodiment of a vehicle navigation light carpet display method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0038] This method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on a computer terminal as an example, the computer terminal may include one or more processors (the processor may include, but is not limited to, a processing device such as a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a Micro Controller Unit (MCU), a Field Programmable Gate Array (FPGA), a Neural-network Processor Unit (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligence (AI) type processor, etc.) and a memory for storing data. Optionally, the above computer terminal may further include a transmission device for communication functions, input / output devices, and a display device. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above computer terminal. For example, the computer terminal may further include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0039] The memory can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the vehicle navigation light carpet display method in the embodiments of the present disclosure. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the vehicle navigation light carpet display method described above is implemented. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely disposed relative to the processor, and these remote memories can be connected to the mobile terminal through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0040] The transmission device is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0041] The display device can be, for example, a touch-screen liquid crystal display (Liquid Crustal Display, LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of the mobile terminal. In some embodiments, the above mobile terminal has a graphical user interface (Graphical User Interface, GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function here optionally includes the following interactions: creating web pages, drawing, word processing, creating electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0042] It should be noted that the vehicle navigation light carpet display method proposed in the embodiments of the present application is applicable to HUD and AR-HUD. For the convenience of description, AR-HUD is used for unified description hereinafter. The vehicle navigation information processing method in the embodiments of the present application is applicable to enhancing the user experience and driving safety in the human-driven navigation scenario. In the human-driven navigation scenario, the driver needs to receive accurate navigation guidance in real time while maintaining full attention to the surrounding environment. The introduction of AR-HUD technology enables navigation information to be directly projected in front of the driver's line of sight in the form of augmented reality, reducing the time for the driver's line of sight to leave the road and improving driving safety.

[0043] Figure 1 is a flowchart of a vehicle navigation light carpet display method according to one embodiment of the present disclosure, as Figure 1 shown, the method includes the following steps:

[0044] Step S11, display an augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface;

[0045] The above vehicle head-up display navigation interface (AR-HUD) is a display system integrated on the vehicle windshield, which directly projects navigation information, vehicle status, and other important driving data into the driver's forward line of sight through optical, electronic, and software technologies, usually located in the lower half of the windshield or presented through a transparent reflective screen. The main purpose of this interface design is to reduce the time for the driver's line of sight to leave the road when viewing in-vehicle information, thereby enhancing driving safety.

[0046] Specifically, the AR-HUD design takes into account ergonomic factors to ensure that information is displayed at the height of the driver's natural line of sight, and at the same time optimizes the clarity and recognition of the displayed information through methods such as brightness adjustment and color contrast. The interface content usually includes but is not limited to navigation routes, vehicle real-time speed, turn prompts, straight-ahead signs, exit prompts, warning and prompt information, and augmented reality navigation guidance light carpets. Among them, warnings and prompts include but are not limited to warnings about road conditions ahead (such as construction areas, accident points), traffic signal recognition, safety distance alarms, etc. In addition, the AR-HUD usually has a high degree of adaptability and personalized settings, and can automatically adjust the display content and format according to changes in the driving environment and the driver's preferences.

[0047] The above-mentioned augmented reality navigation guiding light carpet (AR light carpet) is a navigation guiding light carpet formed by using the augmented reality display technology in front of the vehicle to directly superimpose virtual navigation instructions on the road real scene within the natural line of sight of the driver, and is used to guide the driver to drive along the planned path in an intuitive manner. Specifically, the AR light carpet is usually generated by an AR-HUD system, and can dynamically adjust the shape, position and length of the light carpet according to the vehicle's real-time position, driving direction and road information, so as to provide navigation guiding information for the vehicle.

[0048] Step S12, in response to the augmented reality navigation guiding light carpet meeting the light carpet super-frame condition, use a three-dimensional navigation guiding light carpet to replace the augmented reality navigation guiding light carpet for display in the vehicle head-up display navigation interface, where the light carpet super-frame condition is used to determine whether the augmented reality navigation guiding light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guiding light carpet is generated according to the steering angle corresponding to the vehicle;

[0049] The above-mentioned three-dimensional navigation guiding light carpet (3D light carpet) is a virtual navigation assistance tool, which can provide uninterrupted and highly adaptable road navigation information through intelligent calculation and dynamic adjustment in special driving situations where the AR light carpet display is restricted, ensuring that the driver can obtain clear and reliable driving guidance.

[0050] Exemplarily, in order to provide a better user experience, when designing the 3D light carpet, various visual elements and special effects can be introduced, such as colors, flowing light effects, etc., to make it more eye-catching and easy to identify visually. Specifically, the color of the light carpet can be adjusted according to the driving environment or the importance of the navigation information. For example, red can be used to emphasize an emergency turn, blue is used to indicate a straight route, and green can be used for low-risk curve navigation, so as to improve the visual discrimination and help the driver understand and respond to navigation instructions more quickly. The visual effect of dynamic light flow can also be added to make the 3D light carpet more vivid and intuitive.

[0051] Exemplarily, the size of the 3D light carpet can be adjusted in real time according to the distance between the vehicle and the front path point and the steering angle, ensuring that it can perfectly match the display range of the AR-HUD under all driving conditions, while maintaining a sufficient width to clearly display the navigation information without overly occupying the driver's field of vision and causing interference, thereby improving the navigation continuity and user experience.

[0052] The above navigation Field of View (FOV) is the spatial area where an AR-HUD can effectively project and clearly display navigation information. Specifically, the FOV is the length and width range of the road ahead that a driver can see through the AR-HUD, including but not limited to the vertical viewing angle, horizontal viewing angle, and projection distance. Among them, the vertical viewing angle is the viewing angle range that the AR-HUD can project upward and downward, usually between several degrees and more than a dozen degrees, and is used to represent the visible height of the light carpet in the vertical direction; the horizontal viewing angle is the maximum viewing angle of the AR-HUD in the horizontal direction, and is used to represent the maximum coverage width of the light carpet in the left and right viewing directions of the driver; the projection distance is the actual distance at which the light carpet is projected onto the road ahead.

[0053] The steering angle corresponding to the above vehicle is the angle between the vehicle's traveling direction and the predetermined navigation path ahead, and can be calculated comprehensively through vehicle attitude sensors, navigation data, and road surface information. The steering angle is a key parameter for determining whether to activate the 3D light carpet display.

[0054] Figure 2 It is a schematic diagram of a super-frame scene according to one embodiment of the present disclosure, as Figure 2 shown. In the case of a large-curvature bend scene, when the vehicle approaches the bend, a part of the navigation guidance light carpet exceeds the vehicle's navigation field of view, resulting in a super-frame phenomenon.

[0055] Figure 3 It is another schematic diagram of a super-frame scene according to one embodiment of the present disclosure, as Figure 3 shown. In the case of a U-turn scene, due to a large deviation between the vehicle's orientation and the U-turn direction, the navigation guidance light carpet exceeds the vehicle's navigation field of view, resulting in a super-frame phenomenon.

[0056] Although both using the in-vehicle screen to display navigation information during vehicle driving and using the AR-HUD to display navigation information during vehicle driving can provide navigation guidance, presenting navigation information through the AR-HUD is not just using the same navigation information with a different display subject. Instead, there are essential differences in the generation implementation logic and effects of the displayed navigation information, and these differences determine their respective characteristics and application scenarios.

[0057] The core of the AR-HUD is to integrate the navigation guidance light carpet with the actual road, and integrate the information that needs to be prompted, such as the perceived lane lines ahead, motor vehicles, non-motor vehicles, pedestrians, or animals in the surrounding environment, with the real environment, and present it on the windshield in front of the driver's line of sight. In terms of the effect, this alignment and fitting of the navigation virtual information with the real world makes the virtual information highly consistent with the real-world elements, providing users with an intuitive and immersive driving assistance experience.

[0058] In contrast, the navigation information on the in-vehicle screen is presented. The navigation route (not the navigation guiding light carpet), the vehicle itself, and virtual information such as surrounding vehicles are rendered through animation on a fixed display screen inside the vehicle. The navigation route and virtual information do not need to be spatially integrated with the external environment. The main display function is to show the user a general idea of the surrounding environment, and there is no high demand for accuracy.

[0059] The specific differences are as follows.

[0060] Table 1 Information Display Location AR-HUD In-vehicle Screen Does the virtual information fit the actual road? Yes No Is it necessary to predict the position of the vehicle ahead in real time? Yes No Is there a problem that the navigation guidance light carpet exceeds the frame? Yes No

[0061] As shown in Table 1, regarding whether the virtual information fits the actual road, the essential difference between AR HUD and the traditional in-vehicle screen in the navigation display function is that, due to its augmented reality feature, AR-HUD can directly superimpose navigation information within the driver's line of sight. It can display the navigation guiding light carpet on the road where the vehicle is currently located, making the navigation guiding light carpet fit the actual road. The user can clearly know how to drive on the road ahead, which is very intuitive. However, the navigation on the in-vehicle screen does not require direct visual integration with the road, and it does not display the navigation information through a light carpet. Instead, it marks the passable roads in front of the vehicle with colors to show the user which roads are passable. The user knows which roads can be taken, and as for which road to take, the user decides by themselves. In addition, AR-HUD can display prompt information such as the lane lines ahead within a certain range, motor vehicles, non-motor vehicles, pedestrians, or animals in the surrounding environment, and directly prompt the user with external factors that may affect driving operations. Especially in an environment with low visibility, the user may not notice the surrounding environment clearly. These information can greatly help the user make decisions to avoid traffic accidents. However, the navigation on the in-vehicle screen will render some surrounding objects, but the user can only generally know that there may be an object around, and cannot intuitively feel the specific position of the object.

[0062] Regarding whether it is necessary to predict the position of the vehicle in front in real time, because the underlying implementation logics of these two technologies are different. For example, assume that in a situation with low visibility, to show the position element of the vehicle in front through AR-HUD to help the user identify the distance between their own vehicle and the vehicle in front, it is very important for the user to ensure that this position element fits the vehicle in front. It is necessary to predict the position of the vehicle in front to be more fitting. For example, if the vehicle in front suddenly accelerates or decelerates, in order to make the animation rendering on AR-HUD be able to keep up with the vehicle in front, it is necessary to predict the position of the vehicle in front. Specifically, it is necessary to first obtain multiple predicted positions of the vehicle in front (for example, some predicted positions of the vehicle in front are the positions after acceleration, and some predicted positions of the vehicle in front are the positions after deceleration), and then perform a window average on the current frame position of the vehicle in front to obtain a predicted position. At this time, this predicted position can be used for display on AR-HUD. At this time, even if the vehicle in front suddenly accelerates, this predicted position is relatively fitting.

[0063] For the navigation screen displayed on the in-vehicle screen, there will be an animated rendering of the vehicle ahead. However, this animated rendering does not have a very strong requirement for accurately fitting the vehicle ahead. Even if there is a certain distance difference between the rendered position of the vehicle ahead and the actual position, it doesn't matter. The in-vehicle screen only needs to indicate the approximate relative position of the vehicle ahead, rather than the particularly accurate position of the vehicle ahead. That is to say, the navigation displayed on the in-vehicle screen does not predict the speed of the vehicle ahead, but instead detects and calculates in real time whether the host vehicle will collide with the vehicle ahead through sensing data, without the need to know whether the host vehicle will collide with the vehicle ahead in the future.

[0064] Regarding the issue of whether there is an over-frame problem with the navigation guiding light carpet, since the display field of view shown by the AR-HUD only includes the content within a certain range in front of the host vehicle, and the navigation guiding light carpet needs to fit the road conditions. For example, when turning right or making a U-turn ahead, in such cases, the navigation guiding light carpet will have an over-frame problem. However, the screen displayed on the in-vehicle screen already includes the passable road ahead (the navigation guiding light carpet is not shown). Even when turning right or making a U-turn ahead, the passable road ahead will be shown on the screen. Therefore, there is no over-frame problem with the navigation guiding light carpet on the in-vehicle screen.

[0065] Step S13, in response to the steering angle being within a preset angle range, restore the display of the three-dimensional navigation guiding light carpet as an augmented reality navigation guiding light carpet within the head-up display navigation interface of the vehicle.

[0066] Exemplarily, the above preset angle range can be [-5°, 5°]. When the steering angle of the vehicle is within the preset angle range, it indicates that the vehicle has returned to the standard driving path or has completed a complex steering maneuver. At this time, the virtual guiding effect provided by the 3D light carpet is no longer needed, but instead the AR light carpet is restored for display.

[0067] Based on the above steps S11 to S13, by displaying the augmented reality navigation guiding light carpet in the head-up display navigation interface of the vehicle, and then when the augmented reality navigation guiding light carpet meets the light carpet over-frame condition, replacing the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet for display within the head-up display navigation interface of the vehicle, and finally when the steering angle is within the preset angle range, restoring the display of the three-dimensional navigation guiding light carpet as an augmented reality navigation guiding light carpet within the head-up display navigation interface of the vehicle, it achieves the purpose of providing stable, reliable, and uninterrupted navigation guidance in scenarios such as large-curvature bends or U-turns, thereby realizing the technical effects of seamless switching of the display mode, maintaining the continuity and accuracy of navigation information, and enhancing the user experience, and further solving the technical problem in related technologies that in specific scenarios such as large-curvature bends or U-turns, the over-frame of the light carpet results in low navigation continuity and poor user experience.

[0068] Optionally, the vehicle navigation light carpet display method in the embodiments of the present disclosure further includes:

[0069] Step S21, obtain turning navigation data corresponding to the augmented reality navigation guidance light carpet, where the turning navigation data includes: the navigation path distance and the future turning actions associated with the navigation path distance;

[0070] The above-mentioned turning navigation data is the Turn-by-Turn (TBT) data, which is used to provide phased and high-precision route guidance information for the driver to ensure that the vehicle can smoothly drive along the predetermined route. TBT data is not just a simple indication of distance and direction, but a comprehensive information package integrating multiple technologies, covering functions such as route planning, geolocation, real-time traffic condition analysis, and visual / voice prompts, making the driving process safer and more convenient.

[0071] The above-mentioned navigation path distance is the actual driving distance of the road from the current position of the vehicle to the next navigation event (such as a turn or a U-turn point). Considering the actual curve and layout of the road, the navigation path distance is usually the length of the path that the vehicle needs to follow, rather than the straight-line distance between two points.

[0072] The above-mentioned future turning actions are the next driving actions that the vehicle needs to perform according to the current navigation path, including but not limited to turning left, turning right, making a U-turn, or going straight, etc. The above driving actions are dynamically updated and immediately displayed to the driver based on the vehicle's real-time position and path planning information, which helps the driver make preparations in advance, reduce the uncertainty during the driving process, and thus improve the overall driving safety and efficiency.

[0073] Step S22, in response to the future turning action being a U-turn action and the navigation path distance being less than the first preset distance, determine that the augmented reality navigation guidance light carpet meets the light carpet over-frame condition.

[0074] The above-mentioned first preset distance is a threshold value preset based on system design and vehicle performance, and is used to determine whether the driver needs to switch to the 3D light carpet display mode before performing the future turning action to avoid the over-frame phenomenon. The selection of the specific value depends on multiple factors, such as the FOV corresponding to the AR-HUD, the average curvature of the current driving road, the shortest safe stopping distance of the vehicle, and the user reaction time, etc.

[0075] Exemplarily, assuming the first preset distance is 70 meters, when the future turning action of the vehicle is a U-turn action and the navigation path distance is less than 70 meters, it can be determined that the AR light carpet meets the light carpet over-frame condition.

[0076] It should be noted that the selection of the first preset distance must ensure that there is sufficient transition time before the AR light carpet exceeds the super frame, allowing the driver to adapt to the display of the 3D light carpet, and at the same time, it cannot be switched too early to avoid unnecessary visual interference or information redundancy. In practical applications, the first preset distance can be fine-tuned according to different vehicle models, different characteristics of driving assistance systems, and usage environments. The values in the embodiments of the present disclosure are only examples and are not specifically limited.

[0077] Based on the above steps S21 to S22, by real-time monitoring of the future steering actions and navigation path distances of the vehicle, it is possible to accurately determine whether the AR light carpet is about to exceed the visible range of the AR-HUD, and then timely activate the 3D light carpet display mode to ensure that navigation information is not lost in any driving situation, thereby providing a continuous and stable navigation experience.

[0078] Optionally, the vehicle navigation light carpet display method in the embodiments of the present disclosure further includes:

[0079] Step S31, obtaining navigation path point data;

[0080] The above navigation path point data is a set of points used to describe the geometric shape and characteristics of the vehicle driving route in an electronic map or a navigation system. It is usually composed of a series of continuous coordinate points and represents the key points on the navigation path from the starting point to the ending point. The navigation path point data includes, but is not limited to, geometric information of the road, such as position coordinates, road direction, etc., road attribute information, such as road type, speed limit, number of lanes, etc., and additional information related to navigation, such as traffic lights, intersections, turning points, etc.

[0081] Step S32, using a preset curvature limit condition to screen and process the navigation path point data to obtain curved path points;

[0082] The above preset curvature limit condition is used to identify and screen out curved path points with a large curvature that may cause the AR light carpet to exceed the super frame phenomenon. The larger the curvature value, the higher the degree of curvature of the road, and the more likely it is to cause the light carpet to exceed the visible range of the AR-HUD in the large curvature bend scenario.

[0083] Exemplarily, assuming that the spacing threshold between navigation path point data is 30 meters, when the spacing between two navigation path points is greater than 30 meters, it indicates that the curvature value of this section of the path is large; conversely, when the spacing between two navigation path points is less than 30 meters, it indicates that the curvature value of this section of the path is small. Further, curved path points corresponding to large curvature bends can be screened out according to the spacing between navigation path points.

[0084] Step S33: In response to the distance between the vehicle and the curved road path point being less than a second preset distance, and the augmented reality navigation guidance light carpet being about to exceed the vehicle head-up display navigation interface, it is determined that the augmented reality navigation guidance light carpet meets the light carpet over-frame condition.

[0085] The above-mentioned second preset distance is used to determine the degree to which the vehicle approaches the curved point, so as to decide whether to activate the 3D light carpet display mode.

[0086] Figure 4 It is a schematic diagram of another over-frame scenario according to an embodiment of the present disclosure. As Figure 4 shown, it is possible to determine whether there is an over-frame phenomenon by the positions of the intersections of the navigation guidance light carpet within the vehicle FOV and the left and right boundaries of the FOV.

[0087] Exemplarily, assume that the second preset distance is set to 50 meters, that is, the vehicle is less than 50 meters away from a certain curved point, and at this time the AR light carpet is about to exceed the FOV of the AR-HUD. It can be determined that the AR light carpet meets the over-frame condition at this time and needs to be switched to a 3D light carpet. Further, in the above situation, visual and audible warnings can also be used to remind the driver to slow down or adjust the lane to cope with possible situations such as blocked vision and complex road conditions caused by large-curvature curves, thereby improving driving safety and comfort.

[0088] Based on the above steps S31 to S33, by analyzing the spacing changes of the navigation path point data, it is possible to accurately identify large-curvature curves that will cause the AR light carpet to over-frame, so as to prompt the vehicle to prepare in advance and cope with the upcoming large-curvature curves.

[0089] Optionally, the vehicle navigation light carpet display method in the embodiments of the present disclosure further includes:

[0090] Step S41: Obtain navigation path point data;

[0091] Exemplarily, the navigation path point data on the vehicle driving path can be collected through a satellite positioning system, in-vehicle sensors, an electronic map database, or a cloud database.

[0092] Step S42: Determine the steering angle based on the navigation path point data, where the steering angle is used to evaluate the matching degree between the current driving direction of the vehicle and the vehicle navigation path;

[0093] Step S43: Generate a three-dimensional navigation guidance light carpet according to the steering angle.

[0094] Exemplarily, the magnitude of the steering angle directly reflects the direction deviation of the vehicle relative to the navigation path points, and is an important basis for determining whether the vehicle is approaching a turning or steering point. Specifically, when the steering angle approaches 0 degrees, it indicates that the forward direction of the vehicle perfectly coincides with the navigation path, and the vehicle is in a straight driving state. At this time, the display effect of the AR light carpet can usually perfectly fit the actual road surface, and there is no need for the 3D light carpet to intervene. As the steering angle increases, especially when approaching 180 degrees, it means that the vehicle is in the opposite direction to the next navigation path point, and a U-turn or a large-scale steering is required to align with the path. Therefore, by analyzing the steering angle, the matching degree between the current driving direction of the vehicle and the vehicle navigation path can be determined, and then a 3D light carpet suitable for the current driving scenario can be generated based on the current steering angle.

[0095] Based on the above steps S41 to S43, by obtaining the navigation path point data, determining the steering angle based on the navigation path point data, and then generating a three-dimensional navigation guiding light carpet according to the steering angle, it is possible to provide navigation assistance beyond the range limit of the conventional AR light carpet when the vehicle approaches a curve or requires a large-scale steering, ensuring the continuity and high reliability of the navigation information, thereby enhancing the driving experience and driving safety.

[0096] Optionally, in step S42, determining the steering angle based on the navigation path point data includes:

[0097] Step S421, converting the navigation path point data within a preset distance ahead to the vehicle's own coordinate system to obtain a conversion result;

[0098] The above preset distance ahead is a dynamically adjustable prediction distance, which can be adjusted in real time based on the current driving state of the vehicle (such as speed, acceleration) and road conditions (such as road curvature, line-of-sight occlusion). Under normal driving conditions, the preset distance ahead can be set to 20 meters to cover the turning points of most urban roads; while in high-speed driving or low-visibility environments, it can be set to more than 50 meters to ensure that the driver has enough time and information to prepare for and execute the steering operation, thereby improving the accuracy of navigation and driving safety.

[0099] Exemplarily, the position of the vehicle in the global coordinate system can be determined based on the real-time GPS coordinates of the vehicle, and then the navigation path point data within a preset distance range in front of the vehicle can be extracted from the electronic map database or the cloud database. Subsequently, the extracted navigation path point data is converted from the global coordinate system to the self-vehicle coordinate system with the current position of the vehicle as the origin using a coordinate transformation algorithm. Specifically, the longitude and latitude information of the navigation path point data in the global coordinate system can be converted into the X and Y coordinates in the self-vehicle coordinate system. At the same time, considering the driving direction and posture of the vehicle, further rotation and translation operations can be performed to ensure that the navigation path point data is aligned with the actual field of view and driving direction of the vehicle. The result obtained after the conversion, that is, the navigation path point data represented in the self-vehicle coordinate system, will serve as the basis for the subsequent determination of the self-vehicle path point and the target path point, as well as the calculation of the steering angle and the generation of the three-dimensional navigation guide light blanket.

[0100] Step S422, determining the vehicle path type point and the target path type point according to the conversion result;

[0101] The above-mentioned vehicle path point is the navigation path point closest to the current actual position of the vehicle.

[0102] The target path point is a navigation path point along the vehicle's navigation path and is separated from the vehicle's path point by a preset path distance.

[0103] For example, a nearest neighbor search algorithm can be used to find the navigation path point closest to the current position of the vehicle in the vehicle coordinate system as the vehicle path point. Furthermore, the navigation path point corresponding to the maximum curvature in the point connection path composed of multiple navigation path points can be used as the target path point.

[0104] Step S423, determining the steering angle using the current driving direction of the vehicle, the line between the vehicle path point and the target path point.

[0105] Figure 5 is a schematic diagram of a vehicle steering angle according to one embodiment of the present disclosure, such as Figure 5 As shown in FIG. 1 , the black circle is the navigation path point, the ego path point is the navigation path point closest to the ego vehicle, the target path point is the navigation path point connected to the ego path point, and α is the vehicle steering angle.

[0106] Based on the above steps S421 to S423, by real-time analysis of the vehicle position and navigation path point data, the vehicle's steering angle can be dynamically calculated, and then the 3D light carpet can be generated and adjusted in real time according to the angle to meet the navigation needs of the vehicle in large curvature curves or U-turn scenarios.

[0107] Optionally, in step S43, generating a three-dimensional navigation guiding light carpet according to the steering angle includes:

[0108] Step S431, determining a plurality of initial curve control points based on the steering angle;

[0109] The above initial curve control points are position points preliminarily selected according to a preset curve design rule, and are used to guide the subsequent curve generation. The initial curve control points are usually distributed on both sides of the expected steering path of the vehicle, and the number can be determined according to specific design requirements (such as the complexity and smoothness requirements of the curve). Exemplarily, based on the steering angle, the control point distribution principle of the Bezier curve can be used to determine a plurality of initial curve control points.

[0110] Step S432, performing linear interpolation processing on the plurality of initial curve control points to obtain a plurality of target curve control points;

[0111] Step S433, generating a path planning curve based on the target curve control points;

[0112] Step S434, generating a three-dimensional navigation guiding light carpet by using the path planning curve.

[0113] The above linear interpolation processing is used to generate a continuous and denser point set, that is, target curve control points, between the known initial curve control points. Specifically, it can be achieved by calculating the linear path between two adjacent control points. In the linear interpolation processing, the position of each newly added point is calculated according to the coordinates of the adjacent control points through a linear proportional relationship, so as to ensure that the newly added points are evenly distributed along the straight line between two adjacent control points. For generating a 3D light carpet, the linear interpolation processing is used to increase the number of control points, thereby providing a higher curve resolution, enabling the 3D light carpet to more accurately match the steering angle of the vehicle, and more finely adapt to the display characteristics of the AR-HUD, so as to visually provide a more coherent and clear turning guidance for the driver.

[0114] Exemplarily, a path planning curve can be generated based on a plurality of target curve control points obtained after linear interpolation processing, and then a 3D light carpet that conforms to the current driving environment of the vehicle can be generated based on the path planning curve. Specifically, by ray tracing, rendering, and adjusting attributes such as the width and brightness of the 3D light carpet, the 3D light carpet can be accurately mapped into the driver's field of vision, ensuring that even when the AR light carpet exceeds the frame, a clear and intuitive navigation guiding light carpet can be provided to help the driver better understand and respond to navigation instructions.

[0115] Figure 6 is a schematic diagram of a three-dimensional navigation guiding light carpet according to an embodiment of the present disclosure, as Figure 6As shown, it is a three-dimensional navigation guiding light carpet generated at a 180° steering angle, where multiple points with position marking information are the initial curve control points.

[0116] Figure 7 It is a schematic diagram of another three-dimensional navigation guiding light carpet according to an embodiment of the present disclosure. As Figure 7 shown, it is a three-dimensional navigation guiding light carpet generated at a 90° steering angle.

[0117] Figure 8 It is a schematic diagram of another three-dimensional navigation guiding light carpet according to an embodiment of the present disclosure. As Figure 8 shown, it is a three-dimensional navigation guiding light carpet generated at a 0° steering angle.

[0118] Based on the above steps S431 to S434, a three-dimensional navigation guiding light carpet with high precision and strong adaptability can be generated, significantly improving the navigation experience and driving safety of the driver in various steering situations.

[0119] Optionally, in step S12, using the three-dimensional navigation guiding light carpet to replace the augmented reality navigation guiding light carpet for display in the vehicle head-up display navigation interface includes:

[0120] In the vehicle head-up display navigation interface, the augmented reality navigation guiding light carpet is smoothly replaced with the three-dimensional navigation guiding light carpet by using the inter-frame curve smoothing method.

[0121] Exemplarily, the shape difference between the AR light carpet and the upcoming 3D light carpet can be compared to analyze the curve change amount that needs to be transitioned between the two. Subsequently, according to the predetermined transition time or number of frames, the shape of each frame of the light carpet is calculated, and the AR-HUD image is dynamically rendered according to the calculated light carpet shape to ensure a smooth transition from the AR light carpet to the 3D light carpet.

[0122] It should be noted that in order to distinguish the 3D light carpet from the AR light carpet and give the user a stable expectation, the width of the 3D light carpet can be set to be narrower than that of the AR light carpet. When entering the 3D light carpet, a timed linear animation can be used to complete the scaling of the light carpet width.

[0123] Based on the above optional embodiment, smoothly replacing the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet in the vehicle head-up display navigation interface by using the inter-frame curve smoothing method can reduce the cognitive burden of the driver caused by the sudden change of the navigation light carpet, avoid distracting the driver's attention, and thus improve driving safety.

[0124] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present disclosure, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present disclosure.

[0125] In an embodiment of the present disclosure, a vehicle navigation light carpet display device is further provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0126] Figure 9 is a structural block diagram of a vehicle navigation light carpet display device according to an embodiment of the present disclosure. As Figure 9 shown, the device includes:

[0127] A first display module 901, configured to display an augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface;

[0128] A replacement module 902, configured to, in response to the augmented reality navigation guidance light carpet satisfying the light carpet super-frame condition, use a three-dimensional navigation guidance light carpet to replace the augmented reality navigation guidance light carpet for display in the vehicle head-up display navigation interface, where the light carpet super-frame condition is used to determine whether the augmented reality navigation guidance light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guidance light carpet is generated according to the steering angle corresponding to the vehicle;

[0129] A second display module 903, configured to, in response to the steering angle being within a preset angle range, restore the three-dimensional navigation guidance light carpet to the augmented reality navigation guidance light carpet for display in the vehicle head-up display navigation interface.

[0130] Optionally, the vehicle navigation light carpet display device in the embodiment of the present disclosure further includes:

[0131] A first acquisition module 904, configured to acquire steering navigation data corresponding to the augmented reality navigation guidance light carpet, where the steering navigation data includes: the navigation path distance and the future steering action associated with the navigation path distance;

[0132] The first determination module 905 is configured to determine that the augmented reality navigation guidance light carpet meets the light carpet over - frame condition in response to the future steering action being a U - turn action and the navigation path distance being less than the first preset distance.

[0133] Optionally, the vehicle navigation light carpet display device in the embodiments of the present disclosure further includes:

[0134] The second acquisition module 906 is configured to acquire navigation path - type point data;

[0135] The screening module 907 is configured to perform screening processing on the navigation path - type point data by using a preset curvature limit condition to obtain curved path - type points;

[0136] The second determination module 908 is configured to determine that the augmented reality navigation guidance light carpet meets the light carpet over - frame condition in response to the distance between the vehicle and the curved path - type points being less than the second preset distance and the augmented reality navigation guidance light carpet being about to exceed the vehicle head - up display navigation interface.

[0137] Optionally, the vehicle navigation light carpet display device in the embodiments of the present disclosure further includes:

[0138] The third determination module 909 is configured to determine a steering angle based on the navigation path - type point data, where the steering angle is used to evaluate the matching degree between the current driving direction of the vehicle and the vehicle navigation path;

[0139] The generation module 910 is configured to generate a three - dimensional navigation guidance light carpet according to the steering angle.

[0140] Optionally, the third determination module 909 is further configured to: convert the navigation path - type point data within a preset distance ahead to the vehicle - own coordinate system to obtain a conversion result; determine the vehicle - own path - type points and the target path - type points according to the conversion result; and determine the steering angle by using the current driving direction of the vehicle and the connection line between the vehicle - own path - type points and the target path - type points.

[0141] Optionally, the generation module 910 is further configured to: determine a plurality of initial curve control points based on the steering angle; perform linear interpolation processing on the plurality of initial curve control points to obtain a plurality of target curve control points; generate a path planning curve based on the target curve control points; and generate a three - dimensional navigation guidance light carpet by using the path planning curve.

[0142] Optionally, the replacement module 902 is further configured to: smoothly replace the augmented reality navigation guidance light carpet with the three - dimensional navigation guidance light carpet in the vehicle head - up display navigation interface by using an inter - frame curve smoothing method.

[0143] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are respectively located in different processors in any combination form.

[0144] According to another aspect of the embodiments of the present disclosure, a vehicle is further provided, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the vehicle navigation light carpet display method in the embodiments of the present disclosure.

[0145] Optionally, in this embodiment, the above-mentioned processor can be set to execute the following steps through a computer program:

[0146] S1, display an augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface;

[0147] S2, in response to the augmented reality navigation guidance light carpet satisfying the light carpet over-frame condition, display a three-dimensional navigation guidance light carpet in the vehicle head-up display navigation interface to replace the augmented reality navigation guidance light carpet, wherein the light carpet over-frame condition is used to determine whether the augmented reality navigation guidance light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guidance light carpet is generated according to the steering angle corresponding to the vehicle;

[0148] S3, in response to the steering angle being within a preset angle range, restore the display of the three-dimensional navigation guidance light carpet to the augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface.

[0149] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, it controls the device where the storage medium is located to execute the vehicle navigation light carpet display method in the embodiments of the present disclosure.

[0150] Optionally, in this embodiment, the above-mentioned storage medium can be set to store a computer program for executing the following steps:

[0151] S1, display an augmented reality navigation guidance light carpet in the vehicle head-up display navigation interface;

[0152] S2, in response to the augmented reality navigation guidance light carpet satisfying the light carpet over-frame condition, display a three-dimensional navigation guidance light carpet in the vehicle head-up display navigation interface to replace the augmented reality navigation guidance light carpet, wherein the light carpet over-frame condition is used to determine whether the augmented reality navigation guidance light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guidance light carpet is generated according to the steering angle corresponding to the vehicle;

[0153] S3. In response to the steering angle being within a preset angle range, restore the display of the three-dimensional navigation guiding light carpet as an augmented reality navigation guiding light carpet in the vehicle head-up display navigation interface.

[0154] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store computer programs such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0155] According to another aspect of the embodiments of the present disclosure, there is also provided a computer program product. The computer program product includes computer instructions that, when executed by a processor, implement the vehicle navigation light carpet display method in the embodiments of the present disclosure.

[0156] Optionally, in this embodiment, the above computer program product may be set to a computer program that executes the following steps:

[0157] S1. Display an augmented reality navigation guiding light carpet in the vehicle head-up display navigation interface;

[0158] S2. In response to the augmented reality navigation guiding light carpet meeting the light carpet super-frame condition, use the three-dimensional navigation guiding light carpet to replace the augmented reality navigation guiding light carpet for display in the vehicle head-up display navigation interface, where the light carpet super-frame condition is used to determine whether the augmented reality navigation guiding light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guiding light carpet is generated according to the steering angle of the vehicle;

[0159] S3. In response to the steering angle being within a preset angle range, restore the display of the three-dimensional navigation guiding light carpet as an augmented reality navigation guiding light carpet in the vehicle head-up display navigation interface.

[0160] The serial numbers of the above embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0161] In the above embodiments of the present disclosure, the descriptions of the various embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0162] In several embodiments provided by the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0163] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0164] In addition, in each embodiment of the present disclosure, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0165] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present disclosure. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0166] The above is only the preferred embodiment of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present disclosure, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present disclosure.

Claims

1. A vehicle navigation light carpet display method, characterized in that, Including: Displaying an augmented reality navigation guiding light carpet on a vehicle head-up display navigation interface; In response to the augmented reality navigation guiding light carpet satisfying the light carpet over-frame condition, using a three-dimensional navigation guiding light carpet to replace the augmented reality navigation guiding light carpet for display within the vehicle head-up display navigation interface, wherein the light carpet over-frame condition is used to determine whether the augmented reality navigation guiding light carpet exceeds the navigation visual field range corresponding to the vehicle head-up display navigation interface, and the three-dimensional navigation guiding light carpet is generated according to the steering angle corresponding to the vehicle; In response to the steering angle being within a preset angle range, restoring the display of the three-dimensional navigation guiding light carpet to the augmented reality navigation guiding light carpet within the vehicle head-up display navigation interface.

2. The vehicle navigation light carpet display method according to claim 1, wherein The method further includes: Obtaining steering navigation data corresponding to the augmented reality navigation guiding light carpet, wherein the steering navigation data includes: a navigation path distance and a future steering action associated with the navigation path distance; In response to the future steering action being a U-turn action and the navigation path distance being less than a first preset distance, determining that the augmented reality navigation guiding light carpet satisfies the light carpet over-frame condition.

3. The vehicle navigation light carpet display method according to claim 1, characterized in that The method further includes: Obtaining navigation path type point data; Performing screening processing on the navigation path type point data by using a preset curvature limit condition to obtain curved path type points; In response to the distance between the vehicle and the curved path type points being less than a second preset distance and the augmented reality navigation guiding light carpet being about to exceed the vehicle head-up display navigation interface, determining that the augmented reality navigation guiding light carpet satisfies the light carpet over-frame condition.

4. The vehicle navigation light carpet display method according to claim 1, wherein The method further includes: Obtaining navigation path type point data; Determining the steering angle based on the navigation path type point data, wherein the steering angle is used to evaluate the matching degree between the current driving direction of the vehicle and the vehicle navigation path; Generating the three-dimensional navigation guiding light carpet according to the steering angle.

5. The vehicle navigation light carpet display method according to claim 4, characterized in that, Determining the steering angle based on the navigation path type point data includes: Converting the navigation path type point data within a preset distance ahead to the vehicle coordinate system to obtain a conversion result; Determining a vehicle path type point and a target path type point according to the conversion result; Using the current driving direction of the vehicle and the connection line between the vehicle path type point and the target path type point to determine the steering angle.

6. The vehicle navigation light carpet display method according to claim 4, wherein, Generating the three-dimensional navigation guiding light carpet according to the steering angle includes: Determining a plurality of initial curve control points based on the steering angle; Performing linear interpolation processing on the plurality of initial curve control points to obtain a plurality of target curve control points; Generating a path planning curve based on the target curve control points; Generating the three-dimensional navigation guiding light carpet by using the path planning curve.

7. The vehicle navigation light carpet display method according to claim 1, wherein Using the three-dimensional navigation guiding light carpet to replace the augmented reality navigation guiding light carpet for display within the vehicle head-up display navigation interface includes: Smoothingly replacing the augmented reality navigation guiding light carpet with the three-dimensional navigation guiding light carpet in an inter-frame curve smoothing manner within the vehicle head-up display navigation interface.

8. A vehicle, characterized in that, Including: A processor; A memory for storing instructions executable by the processor; Among them, the processor is configured to execute the instructions to implement the vehicle navigation light carpet display method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, it controls the device where the storage medium is located to execute the vehicle navigation light carpet display method according to any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes computer instructions, and when the computer instructions are executed by a processor, the vehicle navigation light carpet display method according to any one of claims 1 to 7 is implemented.

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